12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed errors in PinholeCamera wrapping and removed SimpleCamera (made it a simple typedef)

release/4.3a0
dellaert 2015-05-03 18:32:28 -07:00
parent 3299127e6a
commit 67cf13ad74
1 changed files with 12 additions and 48 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

60
gtsam.h
View File

@ -829,56 +829,16 @@ class CalibratedCamera {
void serialize() const;
};
class SimpleCamera {
// Standard Constructors and Named Constructors
SimpleCamera();
SimpleCamera(const gtsam::Pose3& pose);
SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K);
static gtsam::SimpleCamera Level(const gtsam::Cal3_S2& K,
const gtsam::Pose2& pose, double height);
static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height);
static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye,
const gtsam::Point3& target, const gtsam::Point3& upVector,
const gtsam::Cal3_S2& K);
// Testable
void print(string s) const;
bool equals(const gtsam::SimpleCamera& camera, double tol) const;
// Standard Interface
gtsam::Pose3 pose() const;
gtsam::Cal3_S2 calibration();
// Manifold
gtsam::SimpleCamera retract(const Vector& d) const;
Vector localCoordinates(const gtsam::SimpleCamera& T2) const;
size_t dim() const;
static size_t Dim();
// Transformations and measurement functions
static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
gtsam::Point2 project(const gtsam::Point3& point);
gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
double range(const gtsam::Point3& point);
double range(const gtsam::Pose3& point);
// enabling serialization functionality
void serialize() const;
};
template<CALIBRATION = {gtsam::Cal3DS2}>
template<CALIBRATION>
class PinholeCamera {
// Standard Constructors and Named Constructors
PinholeCamera();
PinholeCamera(const gtsam::Pose3& pose);
PinholeCamera(const gtsam::Pose3& pose, const gtsam::Cal3DS2& K);
static This Level(const gtsam::Cal3DS2& K,
const gtsam::Pose2& pose, double height);
PinholeCamera(const gtsam::Pose3& pose, const CALIBRATION& K);
static This Level(const CALIBRATION& K, const gtsam::Pose2& pose, double height);
static This Level(const gtsam::Pose2& pose, double height);
static This Lookat(const gtsam::Point3& eye,
const gtsam::Point3& target, const gtsam::Point3& upVector,
const gtsam::Cal3DS2& K);
static This Lookat(const gtsam::Point3& eye, const gtsam::Point3& target,
const gtsam::Point3& upVector, const CALIBRATION& K);
// Testable
void print(string s) const;
@ -906,6 +866,13 @@ class PinholeCamera {
void serialize() const;
};
// Do typedefs here so we can also define SimpleCamera
typedef gtsam::PinholeCamera<gtsam::Cal3_S2> SimpleCamera;
typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
class StereoCamera {
// Standard Constructors and Named Constructors
StereoCamera();
@ -2217,9 +2184,6 @@ class NonlinearISAM {
//*************************************************************************
// Nonlinear factor types
//*************************************************************************
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/StereoPoint2.h>